Motor control apparatus having current supply phase correction

ABSTRACT

In a motor-driven shift position switching device, when the difference between a target position and the rotation position of a rotor has become smaller than a prescribed value in a motor feedback control, a transition is made to a deceleration control. A phase lead correction amount for correcting the phase lead of the current supply phase with respect to the rotor rotation phase is set in accordance with the rotor rotation speed. Thus, proper braking force suitable for the rotor rotation speed is exerted on the rotor and the rotor can be decelerated smoothly as it approaches the target position. Further, in the period when the current supply to the motor is kept off, the shift position switching determination ranges are set wider than in the period when the current supply to the motor is on.

CROSS REFERENCE TO RELATED APPLICATION

This application is a divisional of U.S. Ser. No. 09/315,574, filed onMay 20, 1999, now Pat. No: 6,512,097, which is a Divisional of U.S. Ser.No. 08/665,202 filed on Jun. 13, 1996, now U.S. Pat. No. 5,977,322,which is a continuation-in-part of U.S. Provisional Applications U.S.Ser. No. 60/000,238 and U.S. Ser. No. 60/000,250, filed on Jun. 14, 1995and Jun. 15, 1995 respectively. These applications are incorporated byreference for all purposes.

FIELD OF THE INVENTION

The present invention relates to a motor control apparatus forrotationally driving (rotating) the rotor of a motor to a targetposition by detecting the rotation position of the rotor on the basis ofthe count of a pulse signal of an encoder and sequentially switching thecurrent supply phase of the motor. In particular, the invention relatesto a position switching controller for switching the manipulatedposition of a position switching mechanism to a target position bydriving the position switching mechanism with a motor.

BACKGROUND OF THE INVENTION

Brushless motors such as switched reluctance motors are increasinglydemanded because they are inexpensive and simple in structure. Thosemotors incorporate an encoder for outputting a pulse signal insynchronism with the rotation of the rotor, which is rotated bysequentially switching the current supply phase by counting pulses of apulse signal of the encoder and detecting the rotation position of therotor on the basis of the encoder count. Since it is possible to detectthe rotation position of the rotor on the basis of the encoder countafter starting, motors of this type having an encoder are used as drivesources of various position switching devices in which a positionswitching control (positioning control) for rotating the rotor to atarget position by means of a feedback control system to, for example,switch the position of an automatic transmission of a vehicle isperformed (JP-A-2001-271917).

In such a motor incorporating an encoder, a feedback control isperformed in such a manner that the rotor is rotated toward a targetposition by switching the current supply phase on the basis of theencoder count in synchronism with pulses of a pulse signal of theencoder. When the encoder count has reached a target count that is setin accordance with the target position, the feedback control is finishedwith a determination that the rotor has reached the target position. Therotor is stopped at the target position.

Here, to generate torque for rotating the rotor, the phase of thecurrent supply phase needs to lead the rotation phase of the rotor. Therotor rotation speed can be made high by increasing the phase lead ofthe current supply phase in such a manner as not to cause loss ofsynchronization. However, if the rotor rotation speed in a feedbackcontrol is increased, because of its inertia the rotor tends toovershoot a target position after the end of the feedback control: it isdifficult to stop the rotor correctly at the target position.

Further, in a system that performs a feedback control for rotating therotor to a target position on the basis of the encoder count, a failureof the feedback control system or an abnormality (e.g., noise, loss of apulse, or a disconnection of a signal line) in output pulses of theencoder may cause loss of synchronization between the current supplyphase (i.e., encoder count) and the rotation phase of the rotor, whichmay lead to a situation that the rotor cannot be driven normally or isrendered out of control.

One countermeasure is as follows. When a situation that the motor cannotbe feedback-controlled normally has occurred, switching is made from thefeedback control to a fail-safe control (i.e., open-loop control). Thecurrent supply phase of the motor is switched sequentially by supplyinga drive signal to a motor drive circuit without feeding back encodercount information. Pulses of the drive signal are counted and the rotoris rotated to a target position on the basis of resulting counts.

However, during the fail-safe control, the rotor rotation angle (i.e.,the manipulated variable of a position switching mechanism) is merelyestimated on the basis of the count of the drive signal. Therefore, theactual rotor rotation angle may deviate from the estimated value. As aresult, the shift position of an automatic transmission of a vehicle maybe determined erroneously during the fail-safe control.

SUMMARY OF THE INVENTION

It is a first object of the present invention to provide a motor controlapparatus which can stop the rotor correctly at a target position at theend of a feedback control even if the rotor rotation speed in thefeedback control is set high, and which can increase both of the rotorrotation speed in a feedback control and the rotor stop positionaccuracy.

To attain the first object, the invention provides a motor controlapparatus which corrects the phase lead of the current supply phase withrespect to the rotation phase of the rotor in accordance with therotation speed of the rotor during a rotor deceleration control. Withthis measure, during a rotor deceleration control, proper braking forcesuitable for the rotor rotation speed is exerted on the rotor, wherebythe rotor can be decelerated reliably as it approaches a targetposition. As a result, the rotor is prevented from overshooting thetarget position because of its inertia at the end of a feedback controland hence can be stopped accurately at the target position. Both of therotation speed of the rotor in a feedback control and its stop positionaccuracy can be increased.

It is a second object of the invention to provide a position switchingcontroller capable of reducing the probability that a manipulatedposition (e.g., a shift range of a range switching mechanism) of aposition switching mechanism is determined erroneously even withoutproviding a sensor or the like for detecting a manipulated variable ofthe position switching mechanism.

To attain the second object, the invention provides a position switchingcontroller which detects a rotor rotation angle of a motor, determines,on the basis of a resulting detection value, whether a manipulatedposition of a position switching mechanism is within a switchingdetermination range for a target position, and making the switchingdetermination range wider in the period when the current supply to themotor is kept off than in the period when the current supply to themotor is on.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the presentinvention will become more apparent from the following detaileddescription made with reference to the accompanying drawings. In thedrawings:

FIG. 1 is a perspective view of a position switching device according toa first embodiment of the invention;

FIG. 2 shows the structure of an SR motor;

FIG. 3 is a circuit diagram of a circuit for driving the SR motor;

FIG. 4 schematically shows the entire configuration of a control systemof the position switching device;

FIG. 5 is a plan view showing the structure of a rotary magnet of anencoder;

FIG. 6 is a side view of the encoder;

FIG. 7A is a time chart showing output waveforms of the encoder;

FIG. 7B is a time chart showing a current supply phase switchingpattern;

FIG. 8 is a flowchart of an encoder counter routine;

FIG. 9 shows an exemplary count increment ΔN calculation map;

FIG. 10 is a time chart showing a relationship between an instructedshift position, the A-phase signal, the B-phase signal, and an encodercount;

FIGS. 11–13 are flowcharts of a control mode setting routine;

FIG. 14 is a time chart showing timing of a transition from a feedbackcontrol to a target position stopping and holding process;

FIG. 15 is a time chart showing an exemplary control on the SR motor;

FIG. 16 is a flowchart of a time-synchronous motor control routine;

FIG. 17 is a flowchart of a mode-1 routine;

FIG. 18 is a flowchart of a mode-3 routine;

FIG. 19 is a flowchart of a mode-4 routine;

FIG. 20 is a flowchart of a current supply processing routine;

FIG. 21 shows an exemplary conversion table to be used for converting avalue Mptn %12 into a current supply phase in the case of aone/two-phase current supply method;

FIG. 22 is a flowchart of a feedback control routine;

FIG. 23 is a flowchart of a current supply phase setting routine;

FIG. 24 is a time chart illustrating a current supply process in whichrotation is started from a state corresponding to U and V-phases;

FIG. 25 is a flowchart of a rotor rotation speed calculation routine;

FIG. 26 is a flowchart of a deceleration control speed phase leadcorrection amount setting routine;

FIG. 27 illustrates a relationship between an engaging portion of adetent spring and each of a P-position holding recess and anon-P-position holding recess of a detent lever in a position switchingdevice according to a second embodiment of the invention;

FIG. 28 illustrates a relationship between an actual measurement valueand a design value of a rotor movable range and play amounts;

FIG. 29 is a flowchart of a play amount learning routine;

FIGS. 30 and 31 are flowcharts of a target count setting routine;

FIG. 32 is a flowchart of a position determination routine;

FIG. 33 is a flowchart of a motor control routine according to a thirdembodiment of the invention;

FIG. 34 is a flowchart of a switching determination range settingroutine according to the third embodiment; and

FIG. 35 is a flowchart of a position determination routine according tothe third embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

(First Embodiment)

A first embodiment in which the present invention is applied to aposition switching device of an automatic transmission of a vehicle willbe described in detail.

Referring first to FIG. 1, a position switching mechanism 11 isindicated with numeral 11. A motor 12 as a drive source of the positionswitching mechanism 11 is a switched reluctance motor, for example,incorporates a speed reducing mechanism 26 (FIG. 4), and is equippedwith an output shaft sensor 14 for detecting a rotation position of anoutput shaft 13 of the speed reducing mechanism 26. A detent lever 15 isfixed to the output shaft 13.

An L-shaped parking rod 18 is fixed to the detent lever 15. A conicalbody 19 that is provided at the tip of the parking rod 18 is in contactwith a lock lever 21. The lock lever 21 is moved in the verticaldirection in accordance with the position of the conical body 19 andthereby locks or unlocks a parking gear 20. The parking gear 20 isattached to the output shaft of an automatic transmission 27 (FIG. 4).If the parking gear 20 is locked by the lock lever 21, the drive wheelsof the vehicle are kept in a rotation-prevented state (i.e., a parkingstate).

On the other hand, a detent spring 23 for keeping the detent lever 15 atthe position of a parking position (hereinafter abbreviated as“P-position”) or the other range (hereinafter referred to as“non-P-position”) is fixed to a support base 17. The detent lever 15 iskept at the P-position when an engaging portion 23 a that is provided atthe tip of the detent spring 23 moves into a P-position holding recess24 of the detent lever 15. The detent lever 15 is kept at thenon-P-position when the engaging portion 23 a of the detent spring 23moves into a non-P-position holding recess 25 of the detent lever 15.

In the P-position, the parking rod 18 is moved in such a direction as toapproach the lock lever 21, whereby a thick portion of the conical body19 lifts up the lock lever 21 and a projection 21 a of the lock lever 21moves into a tooth space of the parking gear 20 to lock it. As a result,the output shaft of the automatic transmission 27 (and the drive wheels)is kept in a locked state (i.e., a parking state).

On the other hand, in the non-P-position, the parking rod 18 is moved insuch a direction as to move away from the lock lever 21, whereby thethick portion of the conical body 19 moves out of contact with the locklever 21 and hence the lock lever 21 moves down. As a result, theprojection 21 a of the lock lever 21 disengages from the parking gear 20and hence the parking gear 20 is unlocked. The output shaft of theautomatic transmission 27 is kept in a rotatable state (i.e., a statethat the vehicle is capable of running).

The output shaft sensor 14 is a rotary sensor (e.g., a potentiometer)for outputting a voltage corresponding to a rotation angle of the outputshaft 13 of the speed reducing mechanism 26 of the motor 12. Whether thecurrent shift range (position) is the P-position or the non-P-positioncan be recognized on the basis of the output voltage of the output shaftsensor 14.

Next, the structure of the motor 12 will be described with reference toFIG. 2. In this embodiment, the motor 12 is a switched reluctance motor(hereinafter abbreviated as “SR motor”). The SR motor 12, in which bothof a stator 31 and a rotor 32 have salient poles, has an advantage thatno permanent magnet is necessary and hence the structure is simple. Theinner circumferential surface of a cylindrical body of the stator 31 isformed with 12 salient poles 31 a, for example, at regular intervals.

On the other hand, the rotor 32 has eight salient poles 32 a, forexample, that project outward and are arranged at regular intervals inthe circumferential direction. As the rotor 32 rotates, each salientpole 32 a of the rotor 32 faces the salient poles 31 a of the stator 31in order with a small gap interposed in between. The 12 salient poles 31a of the stator 31 are wound with a total of six windings 33 of U, V,and W-phases and a total of six windings 34 of U′, V′, and W′-phases inorder. The number of salient poles 31 a of the stator 31 and the numberof salient poles 32 a of the rotor 32 may be changed as appropriate.

In this embodiment, the windings 33 and 34 are wound on the 12 salientpoles 31 a of the stator 31 in order ofV-phase→W-phase→U-phase→V-phase→W-phase→U-phase→V′-phase→W′-phase→U′-phase→V′-phase→W′-phase→U′-phase,for example. As shown in FIG. 3, the six windings 33 of the U, V, andW-phases and the six windings 34 of the U′, V′, and W′-phases areconnected to each other so as to form two systems of motor engergizingsections 35 and 36. The one motor energizing section 35 is formed byY-connecting the six windings 33 of the U, V, and W-phases (the twowindings 33 of the same phase are connected to each other in series).The other one motor energizing section 36 is formed by Y-connecting thesix windings 34 of the U′, V′, and W′-phases (the two windings 34 of thesame phase are connected to each other in series). In the two motorenergizing sections 35 and 36, the windings of the U-phase and theU′-phase are energized at the same time, the windings of the V-phase andthe V′-phase are energized at the same time, and the windings of theW-phase and the W′-phase are energized at the same time.

The two motor energizing sections 35 and 36 are driven by separate motordrivers 37 and 38, respectively, with a battery 40 of the vehicle usedas a power source. Providing the two systems of motor energizingsections 35 and 36 and the two systems of motor drivers 37 and 38 inthis manner makes it possible to rotate the SR motor 12 through theother system even if one system fails. Although the circuitconfiguration of each of the motor drivers 37 and 38 is of a unipolardriving type in which a switching element 39 such as a transistor isprovided for each phase, a bipolar driving type circuit configurationmay be employed in which two switching elements are provided for eachphase. This configuration is also applicable to a case in which only asingle-system motor energizing section and only a single-system motordriver are provided.

The on/off control on the switching elements 39 of the motor drivers 37and 38 is performed by an ECU 41 (electronic control unit). As shown inFIG. 4, the ECU 41 and the motor drivers 37 and 38 are incorporated in aposition switching controller 42. Manipulation signals from a P-positionswitch 43 for a manipulation of switching to the P-position and anon-P-position switch 44 for a manipulation of switching to thenon-P-position are input to the position switching controller 42. Arange that has been selected by manipulating the P-position switch 43 orthe non-P-position switch 44 is indicated in a range indication section45 that is provided in an instrument panel (not shown). The P-positionswitch 43 or the non-P-position switch 44 are momentary switches, forexample.

The SR motor 12 is equipped with an encoder 46 for detecting a rotationposition of the rotor 32. A specific structure of the encoder 46, whichis a magnetic rotary encoder, for example, is as follows. As shown inFIGS. 5 and 6, an annular rotary magnet 47 that is magnetized in such amanner that N poles and S poles are arranged alternately in thecircumferential direction with a constant pitch is fixed to a sidesurface of the rotor 32 concentrically. Three magnetism detectingelements 48–50 such as Hall ICs are opposed to the rotary magnet 47. Inthis embodiment, the magnetization pitch of the N poles and the S polesof the rotary magnet 47 is set at 7.5°, which is equal to a rotationangle of the rotor 32 corresponding to single current supply on the SRmotor 12. As described later, when the current supply phase of the SRmotor 12 is switched six times by a one/two-phase current supply method,current supply is effected for all the phases around and the rotor 32and the rotary magnet 47 rotate together by 7.5°×6=45°. The number of Npoles and S poles existing in this rotation angle range 45° of therotary magnet 47 is six in total.

N poles (N′ poles) corresponding to reference rotation positions of therotor 32 and S poles (S′ poles) on both sides of each of those N polesare wider than the other magnetic poles in the radial direction. In thisembodiment, in view of the fact that the rotor 32 and the rotary magnet47 rotate together by 45° while current supply is effected for all thephases of the SR motor 12 around, the wide magnetized portions (N′)corresponding to the reference rotation positions of the rotor 32 areformed with a pitch of 45°. Therefore, a total of eight wide magnetizedportions (N′) corresponding to the reference rotation positions areformed in the entire rotary magnet 47. Alternatively, a single widemagnetized portion (N′) corresponding to a reference rotation positionmay be formed in the entire rotary magnet 47.

The three magnetism detecting elements 48–50 are disposed so as to havethe following positional relationships with each other and with therotary magnet 47. The magnetism detecting element 48 for outputting theA-phase signal and the magnetism detecting element 49 for outputting theB-phase signal are disposed on the same circle at such positions as tobe able to face both of the narrow magnetized portions (N and S) and thewide magnetized portions (N′ and S′) of the rotary magnet 47. On theother hand, the magnetism detecting element 50 for outputting a Z-phasesignal is disposed outside or inside the narrow magnetized portions (Nand S) of the rotary magnet 47 at such positions as to be able to faceonly the wide magnetized portions (N′ and S′). The interval between thetwo magnetism detecting elements 48 and 49 for outputting the A-phasesignal and the B-phase signal, respectively, is set so that the phasedifference between the A-phase signal and the B-phase signal becomes 90°in terms of an electrical angle (3.75° in terms of a mechanical angle)as shown in FIG. 7A.

The term “electrical angle” means an angle that is obtained when thecycle of occurrence of each of the A-phase signal and the B-phase signalis regarded as 360°. The term “mechanical angle” is an angle that isobtained when the angle of one rotation of the rotor 32 is regarded as360°; that is, the mechanical angle of the phase difference between theA-phase signal and the B-phase signal is an angle by which the rotor 32rotates in a time from a trailing edge (or rising edge) of the A-phasesignal to that of the B-phase signal. The magnetism detecting element 50for outputting the Z-phase signal is disposed so that the phasedifference between the Z-phase signal and the B-phase signal (or A-phasesignal) becomes 0.

The outputs of the respective magnetism detecting elements 48–50 are ata high level “1” when they face an N pole (or N′ pole) and are at a lowlevel “0” when they face an S pole (or S′ pole). The output (Z-phasesignal) of the magnetism detecting element 50 is at a high level “1”when it faces a wide N′ pole corresponding to a reference rotationposition of the rotor 32 and is at a low level when it is located at theother positions.

In this embodiment, the rotor 32 is rotated as the ECU 41 counts both ofrising edges and trailing edges of the A-phase signal and the B-phasesignal according to an encoder counter routine (described later) andswitches the current supply phase of the SR motor 12 on the basis of theencoder count. In this operation, the ECU 41 determines the rotationdirection of the rotor 32 on the basis of the order of occurrence of theA-phase signal pulse and the B-phase signal pulse. The ECU 41 increasesthe encoder count in the case of normal rotation (i.e., rotation in adirection from the P-position to the non-P position), and decreases theencoder count in the case of reverse rotation (i.e., rotation in adirection from the non-P-position to the P-position). With this measure,the correspondence between the encoder count and the rotation positionof the rotor 32 is maintained irrespective of whether the rotor 32 isrotating in the normal direction or the reverse direction. Therefore,the rotor 32 can be rotated in either the normal direction or thereverse direction by detecting the rotation position (i.e., rotationangle) of the rotor 32 on the basis of the encoder count and energizeswindings 33 or 34 of A-phase corresponding to the detected rotationposition.

FIGS. 7A and 7B show output waveforms of the encoder 46 and a currentsupply phase switching pattern in a case that the rotor 32 is rotated inthe reverse direction (i.e., the rotation direction from thenon-P-position to the P-position), respectively. In either of the casethat the rotor 32 is rotating in the reverse direction (i.e., therotation direction from the non-P-position to the P-position) and thecase that the rotor 32 is rotating in the normal direction (i.e., therotation direction from the P-position to the non-P-position), switchingis made between one-phase current supply and two-phase current supplyevery time the rotor 32 rotates by 7.5°. As the rotor 32 rotates by 45°,current supply is effected for all the phases around in order ofU-phase→U and W-phases→W-phase→V and W-phases→V-phase→U and V-phases,for example. Every time the current supply phase is switched, the rotor32 rotates by 7.5° and the magnetic poles of the rotary magnet 47 thatface the A-phase signal magnetism detecting element 48 and the B-phasesignal magnetism detecting element 49 change from an N pole to an S pole(or an N′ pole to an S′ pole) or from an S pole to an N pole (or an S′pole to an N′ pole), whereby the levels of the A-phase signal and theB-phase signal are inverted alternately.

As a result, the encoder count increases (or decreases) by two everytime the rotor rotates by 7.5°. Further, every time current supply iseffected for all the phases around and the rotor rotates by 7.5°, theZ-phase magnetism detecting element 50 faces a wide N′ polecorresponding to a reference rotation position of the rotor 32 and the Zsignal has a high-level value “1.” In this specification, an event thatthe A-phase signal, the B-phase signal, or the Z-phase signal has ahigh-level value “1” may be referred to as “the A-phase signal pulse,the B-phase signal pulse, or a Z-phase signal pulse is output.”

In the SR motor 12 incorporating the encoder 46, a position switchingcontrol is performed in the following manner. Every time the instructedshift position (i.e., target position) is switched from the P-positionto the non-P-position or in the opposite direction, a feedback controlis performed in which the rotor 32 is rotated to the target position bysequentially switching the current supply phase of the SR motor 12 onthe basis of the encoder count. When the encoder count has reached atarget count that is set in accordance with the target position, thefeedback control is finished with a determination that the rotor 32 hasreached the target position. The rotor 32 is stopped at the targetposition.

In this case, if the rotation speed of the rotor 32 in a feedbackcontrol is set high, because of its inertia the rotor 32 tends toovershoot a target position after the end of the feedback control: it isdifficult to stop the rotor 32 correctly at the target position.

In view of the above, in this embodiment, when the difference betweenthe rotation position of the rotor 32 (i.e., the encoder count) and atarget position (i.e., a target count) has become smaller than aprescribed value, a transition is made to a deceleration control inwhich the phase lead of the current supply phase with respect to therotation phase of the rotor 32 is corrected in accordance with therotation speed of the rotor 32. In this manner, braking force suitablefor the rotation speed of the rotor 32 is caused to act on the rotor 32.More specifically, in the deceleration control, as the rotation speed ofthe rotor 32 decreases, the phase lead of the current supply phase iscorrected in such a direction that the braking force exerted on therotor 32 is decreased. With this measure, the rotor 32 is deceleratedsmoothly as it approaches the target position.

Further, in this embodiment, in the deceleration control, the phase leadof the current supply phase is corrected by taking into consideration,in addition to the rotation speed of the rotor 32, the rotation anglefrom the present rotation position of the rotor 32 (i.e., the encodercount) to the target position (i.e., target count). This measure makesit possible to decelerate the rotor 32 reliably by increasing thebraking force that is exerted on the rotor 32 when it approaches thetarget position even in the case where the deceleration of the rotor 32is delayed for a certain reason: the rotor 32 can be stopped at thetarget position accurately.

Here, in a feedback control, the current supply phase is switched insynchronism with pulses of an A-phase signal and a B-phase signal of theencoder 46. Therefore, if the rotation of the rotor 32 is stopped for acertain reason during a deceleration control and the encoder 46 comesnot to output A-phase and B-phase signals, the current supply phase canno longer be switched, resulting in a problem that the rotor 32 cannotbe rotated to a target position.

As a countermeasure, in this embodiment, time-synchronous current supplyphase setting processing in which the current supply phase is set on thebasis of the encoder count in a prescribed cycle (e.g., every 1 ms) isperformed parallel with a feedback control from the start of thefeedback control to arrival of the rotor 32 to a target position.

In this configuration, even if the rotation of the rotor 32 is stoppedfor a certain reason during a feedback control and the encoder 46 comesnot to output A-phase and B-phase signals, a current supply phase is setby time-synchronous current supply phase setting processing on the basisof an encoder count at that time point. Therefore, the current supplyphase can be switched by the time-synchronous current supply phasesetting processing even in a state that the rotation of the rotor 32 isstopped, and the rotor 32 can be rotated to a position that is as closeto a target position as possible. The reliability of the feedbackcontrol (i.e., position switching control) of the SR motor 12 can thusbe increased.

The details of individual routines that are executed by the ECU 41 ofthe position switching controller 42 will be hereinafter described.

[Encoder Counter]

The details of an encoder counter routine shown in FIG. 8 will bedescribed below. This routine is activated by The B-phase interruptionprocessing in synchronism with both of rising edges and trailing edgesof the A-phase signal and the B-phase signal and counts both of risingedges and trailing edges of the A-phase signal and the B-phase signal inthe following manner. Upon activation of this routine, at step 301, avalue A(i) of the A-phase signal and a value B(i) of the B-phase signalare read. At the next step 302, a count difference (increment) ΔNcorresponding to the present values A(i) and B(i) and preceding valuesA(i−1) and B(i−1) of the A-phase signal and the B-phase signal iscalculated by searching a count increment ΔN calculation map shown inFIG. 9.

The reason for using the present values A(i) and B(i) and the precedingvalues A(i−1) and B(i−1) of the A-phase signal and the B-phase signal isto determine a rotation direction of the rotor 32 on the basis of theorder of occurrence of pulses of the A-phase signal and the B-phasesignal. As shown in FIG. 10, in the case of normal rotation (i.e., therotation direction from the P-position to the non-P-position), theencoder count Ncnt is increased by giving the positive sign to the countincrement ΔN. In the case of reverse rotation (i.e., the rotationdirection from the non-P-position to the P-position), the encoder countNcnt is decreased by giving the negative sign to the count increment ΔN.

After the calculation of the count increment ΔN, the routine proceeds tostep 303, where a new encoder count Ncnt is calculated by adding thecount increment ΔN as calculated at step 302 to the preceding encodercount Ncnt. at the next step 304, for the next counting processing, thepresent values A(i) and B(i) of the A-phase signal and the B-phasesignal are stored as values A(i−1) and B(i−1), respectively. Thisroutine is then finished.

[Control Mode Setting]

A control mode setting routine shown in FIGS. 11–13 is executed in aprescribed cycle (e.g., every 1 ms) after the end of an initial drive.The initial drive is processing for correlating the encoder count withan actual rotation position of the rotor 32 after application of powerto the ECU 41. In the initial drive, edges of the A-phase signal and theB-phase signal of the encoder 46 are counted while current supply iseffected for all the phases of the SR motor 12 around according to aprescribed time schedule, whereby a corresponding relationship betweenthe encoder count and the rotation position (i.e., current supply phase)of the rotor 32 at the end of the initial drive is learned. Morespecifically, the encoder count at the end of an initial drive islearned as an initial positional deviation learned value and encodercounts in a later feedback control or the like are corrected by theinitial positional deviation learned value. In this manner, a deviationbetween the encoder count and the current supply phase (i.e., rotationposition of the rotor 32) at the end of the initial drive is correctedfor, as a result of which correct current supply phases can be selectedin the feedback control or the like.

A control mode setting routine shown in FIGS. 11–13, which is executedevery predetermined time (e.g., every 1 ms) after the end of an initialdrive, specifies a control mode in the following manner by setting acontrol mode determination value “mode” to one of 0, 1, 3, 4, and 5.

mode=0: current supply off (standby)

mode=1: ordinary drive (feedback control start position stopping andholding process and feedback control)

mode=3: target position stopping and holding process

mode=4: reversing position stopping and holding process

mode=5: open-loop control

Upon activation of the control mode setting routine, at step 401, it isdetermined whether a system failure flag Xfailoff is set to “on” meaningthat the position switching control device 42 is in failure. If the flagXfailoff is “on,” the routine proceeds to step 402, where a process forkeeping the SR motor 12 in the current-supply off-state is executed,whereupon the following settings are made: a rotation directioninstruction value D=0 (stop), a current supply flag Xon=off (currentsupply off), a feedback permission flag Xfb=off (a feedback controlprohibited), and the control mode determination value “mode”=0 (currentsupply off).

On the other hand, if the system failure flag Xfailoff is “off” (nofailure), the routine proceeds from step 401 to step 403, where it isdetermined whether a fail-safe process execution flag Xfsop is “off” andthe recovery process execution flag Xrcv is “off.” If one or both of thefail-safe process execution flag Xfsop and the recovery processexecution flag Xrcv are “on,” the routine proceeds to step 404, wherethe following settings are made to execute an open-loop control: therotation direction instruction value D=0 (stop), the control modedetermination value “mode”=5 (open-loop control), and the feedbackpermission flag Xfb=off (feedback control prohibited).

If both of the fail-safe process execution flag Xfsop and the recoveryprocess execution flag Xrcv are “off,” the routine proceeds to step 405,where it is determined whether the current supply flag Xon is “on”(current supply on). If the current supply flag Xon is “off” (currentsupply off), the routine proceeds to step 406, where the differencebetween a target count Acnt and an encoder count Ncnt (i.e., thedifference between a target position and a position of the rotor 32) iscalculated and it is determined on the basis of the difference Acnt−Ncntwhich of normal rotation (i.e., rotation from the P-position position tothe non-P-position position), reverse rotation (i.e., rotation from thenon-P-position position to the P-position position), and a stop thecurrent rotation mode is. at this time, a value as corrected by using aninitial positional deviation learned value Gcnt that was learned in theinitial drive routine of FIGS. 8 and 9 is used as the encoder countNcnt:Ncnt=Ncnt−Gcnt

If the difference Acnt−Ncnt between the target count Acnt and theencoder count Ncnt is greater than or equal to +Kth (e.g., +10°), it isdetermined that the rotor 32 needs to be rotated in the normal direction(i.e., the rotation direction from the P-position position to thenon-P-position position). The routine proceeds to step 407, where thefollowing settings are made: the rotation direction instruction valueD=1 (normal rotation), the current supply flag Xon=on (current supplyon), and the control mode determination value “mode”=1 (feedback controlstart position stopping and holding process and feedback control).

If the difference Acnt−Ncnt between the target count Acnt and theencoder count Ncnt is smaller than or equal to −Kth (e.g., −10°), it isdetermined that the rotor 32 needs to be rotated in the reversedirection (i.e., the rotation direction from the non-P-position positionto the P-position position). The routine proceeds to step 409, where thefollowing settings are made: the rotation direction instruction valueD=−1 (reverse rotation), the current supply flag Xon=on (current supplyon), and the control mode determination value “mode”=1 (feedback controlstart position stopping and holding process and feedback control).

If the difference Acnt−Ncnt between the target count Acnt and theencoder count Ncnt is in a range of −Kth to +Kth (e.g., −10° to +10°),it is determined that the rotor 32 can be kept at the target position byspring force of the detent spring 23 (i.e., it is not necessary toenergize the SR motor 12). The routine proceeds to step 408, where thefollowing settings are made to keep the SR motor 12 in a current-supplyoff-state: the rotation direction instruction value D=0 (stop), thecurrent supply flag Xon=off (current supply off), and the control modedetermination value “mode”=0 (current supply off).

On the other hand, if it is determined at step 405 that the currentsupply flag Xon is “on” (current supply on), steps 410–415 shown in FIG.12 are executed, whereby it is determined whether the instructed shiftposition (target position) has been reversed, and if the instructedshift position has been reversed, the rotation direction instructionvalue D is reversed.

More specifically, first, it is determined at step 410 whether therotation direction instruction value D is equal to “1” (normalrotation). If the rotation direction instruction value D is equal to “1”(normal rotation), the routine proceeds to step 411, where whether it isnecessary to change the rotation direction of the rotor 32 from thenormal direction to the reverse direction is determined on the basis ofwhether the difference Acnt−Ncnt between the target count Acnt and theencoder count Ncnt has a negative value. If it is necessary to changethe rotation direction of the rotor 32 that way, the routine proceeds tostep 412, where the rotation direction instruction value D is set to“−1” (reverse rotation).

In contrast, if it is determined at step 410 that the rotation directioninstruction value D is not equal to “1” (normal rotation), that is, ifit is determined that the value D is equal to “0” or “−1,” the routineproceeds to step 413, where it is determined whether the rotationdirection instruction value D is equal to “−1” (reverse rotation). Ifthe value D is equal to “−1” (reverse rotation), the routine proceeds tostep 414, where whether it is necessary to change the rotation directionof the rotor 32 from the reverse direction to the normal direction isdetermined on the basis of whether the difference Acnt−Ncnt between thetarget count Acnt and the encoder count Ncnt has a positive value. If itis necessary to change the rotation direction of the rotor 32 that way,the routine proceeds to step 415, where the rotation directioninstruction value D is set to “1” (normal rotation).

If the rotation direction instruction value D has been reversed in theabove manner, the routine proceeds to step 416, where the followingsettings are made to reverse the rotation direction of the rotor 32: thecontrol mode determination value “mode”=4 (reversing position stoppingand holding process) and the feedback permission flag Xfb=off (feedbackcontrol prohibited). Then, the routine proceeds to step 417. On theother hand, if the rotation direction instruction value D has not beenreversed, the routine proceeds to step 417 skipping step 416.

At step 417, it is determined whether the control mode determinationvalue “mode” is equal to “4” (reversing position stopping and holdingprocess). If the determination result is “yes,” the routine proceeds tostep 418, where the current supply flag Xon is set to “on” (currentsupply on), whereupon a reversing position stopping and holding processis executed.

On the other hand, if the determination result at step 417 is “no”(i.e., a reversing position stopping and holding process is not beexecuted), steps 419–421 shown in FIG. 13 are executed, whereby it isdetermined whether the feedback control should be finished.Specifically, it is determined at step 419 whether the rotationdirection instruction value D is greater than or equal to “0” (normalrotation or a stop). If the value D≧0, the routine proceeds to step 420,where whether the feedback control should be finished is determined onthe basis of whether the difference Acnt−Ncnt between the target countAcnt and the encoder count Ncnt is smaller than or equal to +Kref (e.g.,+0.5°). If the rotation direction instruction value D is equal to “−1”(reverse rotation), the routine proceeds to step 421, where whether thefeedback control should be finished is determined on the basis ofwhether the difference Acnt−Ncnt between the target count Acnt and theencoder count Ncnt is greater than or equal to −Kref (e.g., −0.5°).

That is, as shown in FIG. 14, by setting the feedback control enddetermination value Kref to the phase lead (e.g., 2 to 4 counts) of thecurrent supply phase, the feedback control is finished at an instantthat precedes, by a time corresponding to the phase lead of the currentsupply phase, an instant that is determined by the target count Acnt.With this measure, the last current supply phase of the feedback controlcomes to coincide with a current supply phase with which the rotor 32 isto be stopped and kept at the target position (target count Acnt).

If the determination result at step 420 or 421 is “no” (i.e., thefeedback control should not be finished), the routine proceeds to step422, where the count CThold of a stopping and holding time counter forcounting the time of a target position stopping and holding process isreset.

On the other hand, if the determination result at step 420 or 421 is“yes” (i.e., the feedback control should be finished), the routineproceeds to step 423, where the feedback permission flag Xfb is set to“off” (feedback control prohibited), whereupon the feedback control isfinished and a transition is made to a target position stopping andholding process. At the next step 424, the count CThold of the stoppingand holding time counter is incremented to count the time of the targetposition stopping and holding process.

Then, at step 425, it is determined whether the time CThold of thetarget position stopping and holding process has reached a prescribedtime (e.g., 50 ms). If the time CThold has not reached the prescribedtime (e.g., 50 ms) yet, the routine proceeds to step 426, where thefollowing settings are maintained to continue the target positionstopping and holding process: the rotation direction instruction valueD=0 (stop), the current supply flag Xon=on (current supply on), and thecontrol mode determination value “mode”=3 (target position stopping andholding process).

When the time CThold of the target position stopping and holding processhas reached the prescribed time (e.g., 50 ms), the routine proceeds tostep 427, where the following settings are made to turn off the currentsupply of the SR motor 12: the rotation direction instruction value D=0(stop), the current supply flag Xon=off (current supply off), and thecontrol mode determination value “mode”=0 (current supply off).

The control mode determination values “mode” are shown exemplarily inFIG. 15.

[Time-Synchronous Motor Control]

A time-synchronous motor control routine shown in FIG. 16 is activatedin a prescribed cycle (e.g., every 1 ms) after the end of the initialdrive. A feedback control start position stopping and holding process, atarget position stopping and holding processing, or a reversing positionstopping and holding process is executed in this routine.

Upon activation of this routine, it is determined at step 501 whetherthe control mode determination value “mode” is equal to “1” (ordinarydrive). If the control mode determination value “mode” is “1,” theroutine moves to step 505, where a mode-1 routine shown in FIG. 17 isexecuted, whereby a current supply phase determination value Mptnindicating a current supply phase with which to execute a feedbackcontrol start position stopping and holding process and atime-synchronous current supply phase setting process is calculated.

On the other hand, if it is determined at step 501 that the control modedetermination value “mode” is not equal to “1,” the routine moves tostep 502, where it is determined whether the feedback permission flagXfb is “off” (feedback control prohibited). If the feedback permissionflag Xfb is “on” (feedback control permitted), the routine is finishedwithout executing the remaining steps. In this case, current supplyphase setting and current supply processing are performed by a feedbackcontrol routine shown in FIG. 22.

In this routine, if the control mode determination value “mode” is equalto “1,” step 505 (i.e., mode-1 routine of FIG. 17) is executed even ifthe feedback control is being performed. Therefore, during the feedbackcontrol, a feedback process in which the feedback control routine ofFIG. 22 sets the current supply phase in synchronism with pulses of theA-phase signal and the B-phase signal that are output from the encoder46 and a time-synchronous current supply phase setting process in whichthe mode-1 routine of FIG. 17 sets the current supply phase in aprescribed cycle are executed in parallel. With this measure, even ifthe rotor 32 is stopped for a certain reason during a feedback control,a current supply phase determination value Mptn is calculated by thetime-synchronous current supply phase setting process and the rotor 32is rotated toward a target position.

On the other hand, if it is determined at step 502 that the feedbackpermission flag Xfb is “off” (feedback control prohibited), it isdetermined at steps 503 and 504 whether the control mode determinationvalue “mode” is equal to “3” or “4.” If the control mode determinationvalue “mode” is equal to “3” (target position stopping and holdingprocess), the routine moves from step 503 to 506, where a mode-3 routineshown in FIG. 18 is executed, whereby the current supply phasedetermination value Mptn indicating a current supply phase with which toexecute a target position stopping and holding process is calculated.

If the control mode determination value “mode” is equal to “4”(reversing position stopping and holding process), the routine movesfrom step 504 to 507, where a mode-4 routine shown in FIG. 19 isexecuted, whereby a current supply phase determination value Mptnindicating a current supply phase with which to execute a reversingposition stopping and holding process is calculated.

As described above, if the control mode determination value “mode” isequal to 1, 3, or 4, the current supply phase determination value Mptnis calculated and the routine proceeds to step 508, where a currentsupply processing routine shown in FIG. 20 is executed, that is, anordinary drive, a target position stopping and holding process, or areversing position stopping and holding process is executed.

On the other hand, if the determination results at both steps 503 and504 are “no,” that is, if the control mode determination value “mode” isequal to 0 or 5, the routine directly proceeds to step 508, where thecurrent supply processing routine shown in FIG. 20 is executed, that is,the current supply is turned off or an open-loop control is performed.

[Mode-1]

The mode-1 routine shown in FIG. 17 is a subroutine that is activated atstep 505 of the time-synchronous motor control routine of FIG. 16. Inthe mode-1 routine, a current supply phase determination value Mptnindicating a current supply phase with which to execute a feedbackcontrol start position stopping and holding process and atime-synchronous current supply phase setting process is set in thefollowing manner.

Upon activation of this routine, at step 511, the count CT1 of a currentsupply time counter for counting an execution time of a feedback controlstart position stopping and holding process is incremented. at the nextstep 512, it is determined whether the time CT1 of the feedback controlstart position stopping and holding process has exceeded a prescribedtime (e.g., 10 ms).

If the time CT1 of the feedback control start position stopping andholding process has not exceeded the prescribed time (e.g., 10 ms) yet,the routine proceeds to step 513, where it is determined whether astopping and holding process current supply phase storage flag Xhold is“off” (not stored), that is, whether the present instant is immediatelybefore a start of the feedback control start position stopping andholding process. If the stopping and holding process current supplyphase storage flag Xhold is “off,” the routine proceeds to step 514,where a present position count Ncnt−Gcnt is set as a current supplyphase determination value Mptn for the feedback control start positionstopping and holding process:Mptn=Ncnt−Gcnt

The present position count Ncnt−Gcnt is an encoder count Ncnt ascorrected by using an initial positional deviation learned value Gcnt,and represents the present position of the rotor 32 correctly.

Then, the routine proceeds to step 515, where the current supply phasedetermination value Mptn is divided by 12 and a remainder Mptn %12 isobtained. The number “12”, is an increase or decrease of the encodercount Ncnt (i.e., current supply phase determination value Mptn) thatoccurs when current supply is effected for all the phases around. Acurrent supply phase is determined on the basis of the value Mptn %12according to a conversion table shown in FIG. 21.

at the next step 516, whether one-phase current supply (U-phase,V-phase, or W-phase) is going to be performed is determined on the basisof whether the value Mptn %12 is equal to 2, 3, 6, 7, 10, or 11. Ifone-phase current supply is going to be performed, the routine proceedsto step 517, where the current supply phase determination value Mptn isincremented by “2” that corresponds to one step so that the two-phasecurrent supply (U and V-phases, V and W-phases, or U and W-phases) willbe performed. Executing the feedback control start position stopping andholding process with two-phase current supply which produces higherholding torque than one-phase current supply does prevents the rotor 32from vibrating in the vicinity of a feedback control start position andhence can reliably stop and hold the rotor 32 at the feedback controlstart position.

The stopping and holding process current supply phase storage flag Xholdis set to “on” (stored) at the next step 518, and this routine isfinished. When this routine is activated later, the determination resultat step 513 should be “no” and hence steps 514–518 are not executed.That is, the processing of setting a current supply phase determinationvalue Mptn indicating a current supply phase with which to execute thefeedback control start position stopping and holding process is executedonly once immediately before the start of the feedback control startposition stopping and holding process.

Then, when the time CT1 of the feedback control start position stoppingand holding process has exceeded the prescribed time (e.g., 10 ms), thedetermination result at step 512 becomes “yes,” whereupon the feedbackcontrol start position stopping and holding process is finished and atransition is made to a feedback control. During the feedback control,every time this routine is activated in the prescribed cycle (e.g.,every 1 ms), at step 519 a current supply phase setting routine shown inFIG. 23 is executed and a current supply phase determination value Mptnis calculated. The current supply phase setting routine shown in FIG. 23is also activated at step 602 in the feedback control routine in FIG.22). Then, the routine proceeds to step 520, where the feedbackpermission flag Xfb is set to “on” (feedback control permitted).

In the control mode setting routine shown in FIGS. 11–13, when thefeedback control has made the difference Acnt−Ncnt between the targetcount Acnt and the encoder count Ncnt smaller than or equal to theprescribed value, it is determined that the rotor 32 has reached thetarget position (feedback control termination timing), whereupon thefeedback permission flag Xfb is set to “off”, the feedback control isfinished, and the control mode determination value “mode” is set to “3”(target position stopping and holding process). The control modedetermination value “mode” is set to “0” (current supply off) at a timepoint when a prescribed time (e.g., 50 ms) has elapsed since then (seesteps 419 and the following steps in FIG. 13).

Therefore, the mode-1 routine of FIG. 17 is not activated aftercompletion of the feedback control, and hence the setting of the currentsupply phase by the time-synchronous current supply mode setting processof step 519 is performed from the start of the feedback control to thearrival of the rotor 32 to the target position (i.e., to the completionof the feedback control).

FIG. 24 is a time chart illustrating A-phase for which current supply iseffected first in the case where rotation is started from a statecorresponding to the U and W-phases. In this case, to start normalrotation (i.e., rotation from the P-position to the non-P-position), acurrent supply phase determination value Mptn is calculated according tothe following equation by using an encoder count Ncnt, an initialpositional deviation learned value Gcnt, and a normal rotation directionphase lead K1:Mptn=Ncnt−Gcnt+K1

If the normal rotation direction phase lead K1 is equal to 4, forexample, a current supply phase determination value Mptn is calculatedaccording to the following equation:Mptn=Ncnt−Gcnt+4To start normal rotation from a state corresponding to the U andW-phases, mod(Ncnt−Gcnt) is 4 and hence Mptn %12 is equal to 8 (=4+4).The U and V-phases are set as first current supply phases.

On the other hand, to start reverse rotation (i.e., rotation from thenon-P-position to the P-position) from a state corresponding to the Uand W-phases, if a reverse rotation direction phase lead K2 is equal to3, for example, a current supply phase determination value Mptn iscalculated according to the following equation:

$\begin{matrix}{{Mptn} = {{Ncnt} - {Gcnt} - {K2}}} \\{= {{Ncnt} - {Gcnt} - 3}}\end{matrix}$To start reverse rotation from a state corresponding to the U andW-phases, Mptn %12 is equal to 1 (=4−3). The V and W-phases are set asfirst current supply phases.

In this manner, by setting the normal rotation direction phase lead K1and the reverse rotation direction phase lead K2 to 4 and 3,respectively, current supply phase switching patterns for the normalrotation direction and the reverse rotation direction can be madesymmetrical. In either of the normal rotation direction and the reverserotation direction, rotation can be started by effecting current supplyfirst for A-phase of a position that is two steps deviated from thecurrent position of the rotor 32.

[Mode-3]

The mode-3 routine shown in FIG. 18 is a subroutine that is activated atstep 506 of the time-synchronous motor control routine of FIG. 16. Inthe mode-3 routine, a current supply phase determination value Mptn(current supply phase) for a target position stopping and holdingprocess is set in the following manner.

Upon activation of this routine, at step 531, whether the current supplyphase at the end of the feedback control is one phase (U-phase, V-phase,or W-phase) is determined on the basis of whether the value Mptn %12 isequal to 2, 3, 6, 7, 10, or 11. If it is one-phase, steps 532–534 areexecuted, whereby the current supply phase determination value Mptn isincremented or decremented by 2 in accordance with the rotationdirection of the feedback control performed so far and the currentsupply phase is thereby changed to two phases next to the current onephase.

In doing so, at step 532 the rotation direction is determined in thefollowing manner. The rotation direction instruction value D is set to“0” (stop) at step 426 in FIG. 13 immediately before this routine isactivated (i.e., when the feedback control has finished). Therefore, therotation direction cannot be determined by checking the rotationdirection instruction value D. In view of this, in this embodiment, withattention paid to the fact that the current supply phase determinationvalue Mptn at the end of the feedback control and the position countNcnt−Gcnt are different from each other by the phase lead K1 or K2 ofthe current supply phase, the rotation direction is determined in thefollowing manner in accordance with a magnitude relationship between thecurrent supply phase determination value Mptn at the end of the feedbackcontrol and the position count Ncnt−Gcnt.

If Mptn>(Ncnt−Gcnt), the rotation direction is determined to be normalrotation (i.e., the rotation direction from the P-position to thenon-P-position). The routine proceeds to step 533, where the currentsupply phase determination value Mptn is incremented by 2 to as toeffect two-phase current supply.

On the other hand, if Mptn<(Ncnt−Gcnt), the rotation direction isdetermined to be reverse rotation (i.e., the rotation direction from thenon-P-position to the P-position). The routine proceeds to step 534,where the current supply phase determination value Mptn is decrementedby 2 to effect two-phase current supply. If Mptn=(Ncnt−Gcnt), it isdetermined that the rotor 32 is stopped and hence the current supplyphase is not changed.

As described above, like the feedback control start position stoppingand holding process, the target position stopping and holding process isexecuted with two-phase current supply which produces higher torque thanone-phase current supply does. This makes it possible to prevent therotor 32 from vibrating in the vicinity of a target position and henceto reliably stop and keep the rotor 32 at the target position.

[Mode-4]

The mode-4 routine shown in FIG. 19, which is a subroutine that isactivated at step 507 of the time-synchronous motor control routine ofFIG. 16, sets a current supply phase determination value Mptn for areversing position stopping and holding process in the following manner.

Upon activation of this routine, at step 541, the count CT4 of a currentsupply time counter that counts the time of a reversing positionstopping and holding process. at the next step 542, it is determinedwhether the time CT4 of the reversing position stopping and holdingprocess has exceeded a prescribed time (e.g., 50 ms).

If the time CT4 of the reversing position stopping and holding processhas not exceeded the prescribed time (e.g., 50 ms), the routine proceedsto step 543, where whether the current supply phase is one phase(U-phase, V-phase, or W-phase) is determined on the basis of whether thevalue Mptn %12 is equal to 2, 3, 6, 7, 10, or 11. If the current supplyphase is one phase, steps 544–546 are executed, whereby the currentsupply phase determination value Mptn is incremented or decremented by 2in accordance with the rotation direction of the feedback controlperformed so far and the current supply phase is thereby changed to twophases next to the current one phase. Steps 543–546 are the same assteps 531–534 of the above mode-3 routine of FIG. 18.

As described above, like the feedback control start position stoppingand holding process and the target position stopping and holdingprocess, the reversing position stopping and holding process is executedwith two-phase current supply which produces higher torque thanone-phase current supply does. This makes it possible to prevent therotor 32 from vibrating in the vicinity of a reversing position andhence to reliably stop the rotor 32 at the reversing position and keepit there.

Then, when the time CT4 of the reversing position stopping and holdingprocess has exceeded the prescribed time (e.g., 50 ms), thedetermination result at step 542 becomes “yes,” whereupon the reversingposition stopping and holding process is finished and the feedbackcontrol is restarted. First, at step 547, a first current supply phasedetermination value Mptn for the new feedback control is set by addingor subtracting, in accordance with a rotation direction, a count (e.g.,4 or 3) corresponding to a phase lead of the current supply phase to orfrom the current supply phase determination value Mptn for the reversingposition stopping and holding process, whereupon driving for rotatingthe rotor 32 is started. Then, the routine proceeds to step 548, wherethe following settings are made: the feedback permission flag xfb=on(feedback control permitted), the current supply time count CT4=0, andthe control mode determination value “mode”=1 (ordinary drive). Thenthis routine is finished.

[Current Supply Process]

The current supply processing routine shown in FIG. 20 is a subroutinethat is activated at step 508 of the time-synchronous motor controlroutine of FIG. 16. This routine is also activated at step 603 of thefeedback control routine (described later) shown in FIG. 22.

Upon activation of the current supply processing routine of FIG. 20, atstep 551, it is determined whether the control mode determination value“mode” is equal to “0” (current supply off). If the control modedetermination value “mode”, is equal to “0” (current supply off), theroutine proceeds to step 552, where all the phases are rendered in acurrent-supply off-state to establish a standby state.

On the other hand, if the determination result at step 551 is “no,” theroutine proceeds to step 553, where it is determined whether the controlmode determination value “mode” is equal to “5” (open-loop control). Ifthe control mode determination value “mode” is equal to “5” (open-loopcontrol), the routine proceeds to step 554, where an open-loop controlis performed. In the open-loop control, the rotor 32 is rotated to atarget position by setting current supply phases by time-synchronousprocessing having a cycle of 1 ms, for example, when the encoder 46 hasfailed or an operation abnormality has occurred in the SR motor 12.

If the determination results at both of steps 551 and 553 are “no,” thatis, if the control mode determination value “mode” is equal to 1(feedback control start position stopping and holding process andfeedback control), 3 (target position stopping and holding process), or4 (reversing position stopping and holding process), the routineproceeds to step 555, where a current supply phase is set in accordancewith a value Mpt %12 using the conversion table of FIG. 21.

[Feedback Control]

Next, the details of the feedback control routine shown in FIG. 22 willbe described. This routine is executed by A and B-phase interruptionprocessing. In this routine, in a state that the feedback controlexecution conditions are satisfied after the end of an initial drive,the rotor 32 is rotated until its rotation position (Ncnt−Gcnt) reachesa position that is 0.5°, for example, short of a target position (targetcount Acnt) by switching the current supply phase on the basis of theencoder count Ncnt and an initial positional deviation learned valueGcnt.

Upon activation of the feedback control routine of FIG. 22, at step 601,it is determined whether the feedback permission flag Xfb is “on” (i.e.,whether the feedback control execution conditions are satisfied). If thefeedback permission flag Xfb is “off” (i.e., the feedback controlexecution conditions are not satisfied), this routine is finishedwithout executing the remaining steps.

On the other hand, if the feedback permission flag Xfb is “on,” theroutine proceeds to step 602, where a current supply phase settingroutine shown in FIG. 31 is executed, whereby a current supply phase isset on the basis of a current encoder count Ncnt and an initialpositional deviation learned value Gcnt. At the next step 603, thecurrent supply processing routine of FIG. 20 is executed.

[Current Supply Phase Setting]

The current supply phase setting routine of FIG. 23 is a subroutine thatis activated at step 602 of the feedback control routine of FIG. 22.Upon activation of this routine, at step 611, it is determined whetherthe rotation direction instruction value D indicating a rotationdirection toward a target position is equal to “1” that means the normalrotation direction (i.e., the rotation direction from the P-position tothe non-P-position). If it is determined that the rotation directioninstruction value D is equal to “1” (normal rotation), the routineproceeds to step 612, where it is determined whether the rotationdirection of the rotor 32 has reversed (i.e., whether the encoder countNcnt has decreased) contrary to the rotation direction instruction. Ifthe rotation direction has not reversed, the routine proceeds to step613, where the current supply phase determination value Mptn is updatedaccording to the following equation by using a current encoder countNcnt, an initial positional deviation learned value Gcnt, a normalrotation direction phase lead K1, and a speed phase lead correctionamount Ks:Mptn=Ncnt−Gcnt+K1+Ks

The normal rotation direction phase lead K1 is a phase lead of thecurrent supply phase that is necessary to rotate the rotor 32 in thenormal direction (i.e., phase lead of the current supply phase withrespect to the current rotation phase of the rotor 32), and is set to“4,” for example.

The speed phase lead correction amount Ks is a phase lead correctionamount that is set in accordance with a rotation speed of the rotor 32,and is set by a speed phase lead correction amount setting routine. Forexample, the speed phase lead correction amount Ks is set to “0” in alow speed range and is increased to “1” or “2,” for example, as therotation speed increases. As a result, the current supply phasedetermination value Mptn is corrected so as to indicate a current supplyphase that is suitable for a rotation speed of the rotor 32.

Further, during the feedback control, it changes to the decelerationcontrol when the difference between the rotation position of the rotor32 (encoder count Ncnt) and the target position (target count Acnt)becomes less than a predetermined value, the speed phase lead correctionamount Ks is set based on the rotation speed of the rotor 32 by adeceleration control speed phase lead correction amount setting routineshown in FIG. 26.

On the other hand, if it is determined at step 612 that the rotationdirection of the rotor 32 has reversed contrary to the rotationdirection instruction, the current supply phase determination value Mptnis not updated to prevent progress of the reversed rotation. In thiscase, current supply is effected for the phase for which current supplywas effected immediately before the reversing (i.e., the precedingcurrent supply phase), whereby braking torque is generated in such adirection as to suppress the reversed rotation.

If it is determined at step 611 that the rotation direction instructionvalue D is equal to “−1” (the reverse rotation direction, i.e., therotation direction from the non-P-position to the P-position), theroutine proceeds to step 614, where it is determined whether therotation direction of the rotor 32 has reversed (i.e., whether theencoder count Ncnt has increased) contrary to the rotation directioninstruction. If the rotation direction has not reversed, the routineproceeds to step 615, where the current supply phase determination valueMptn is updated according to the following equation by using a currentencoder count Ncnt, an initial positional deviation learned value Gcnt,a reverse rotation direction phase lead K2, and a speed phase leadcorrection amount Ks:Mptn=Ncnt−Gcnt−K2−Ks

The reverse rotation direction phase lead K2 is a phase lead of thecurrent supply phase that is necessary to rotate the rotor 32 in thereverse direction (i.e., phase lead of the current supply phase withrespect to the current rotation phase of the rotor 32), and is set to“3,” for example. As in the case of the normal rotation, the speed phaselead correction amount Ks is set by the speed phase lead correctionamount setting routine shown in FIG. 26.

On the other hand, if it is determined at step 614 that the rotationdirection of the rotor 32 has reversed contrary to the rotationdirection instruction, the current supply phase determination value Mptnis not updated to prevent progress of the reversed rotation (i.e.,normal rotation). In this case, current supply is effected for the phasefor which current supply was effected immediately before the reversing(i.e., the preceding current supply phase), whereby braking torque isgenerated in such a direction as to suppress the reversed rotation(i.e., normal rotation).

After the current supply phase determination value Mptn has beendetermined in the above manner, the current supply processing routine ofFIG. 20 is executed. While the feedback control is being performed, acurrent supply phase corresponding to a value Mptn %12 is selected atstep 555 by searching the conversion table of FIG. 21 and current supplyis effected for the selected current supply phase.

[Rotor Rotation Speed Calculation]

A rotor rotation speed calculation routine shown in FIG. 25, which isexecuted by A/B-phase interruption processing, calculates a rotationspeed SP of the rotor 32 in the following manner. Upon activation ofthis routine, at step 621, it is determined whether the feedbackpermission flag Xfb is “on” (a feedback control is being performed). Ifthe feedback permission flag Xfbis “off” (feedback prohibited), nocorrection is performed on a phase lead of the current supply phase inaccordance with a rotation speed SP of the rotor 32 and hence theroutine proceeds to step 624, where stored rotation speeds SP and SPa ofthe rotor 32 are reset. Then this routine is finished.

On the other hand, if the feedback permission flag Xfb is “on” (afeedback control is being performed), a rotation speed SP of the rotor32 is calculated in the following manner. First, at step 622, timeintervals ΔT(n) between rising/trailing edges of an A-phase signal and aB-phase signal of the encoder 46 (i.e., time interval at which theencoder count increases or decreases) are measured and an average ofpast n time intervals ΔT(n) is calculated. A rotation speed calculationvalue SPa is calculated according to the following equation:SPa=60/(ΔTav×Kp)[rpm]

In the above equation, Kp is the number of time intervals ΔT(n) per onerotation of the rotor 32 (i.e., a variation of the encoder count per onerotation of the rotor 32). In the case of the rotor 32 having thestructure of FIG. 5, Kp is equal to 96. And ΔTav×Kp is a time [sec] thatis required for the rotor 32 to make one rotation.

Then, the routine proceeds to step 623, where a rotation speed SP of therotor 32 is calculated through smoothing according to the followingequation by using the rotation speed calculation value SPa:SP(i)=SP(i−1)+{SPa−SP(i−1)}/Rwhere SP(i) is a current rotation speed, SP(i−1) is a preceding rotationspeed, and R is a smoothing coefficient.[Speed Phase Lead Correction Amount Setting in Deceleration Control]

A deceleration control speed phase lead correction amount settingroutine shown in FIG. 26, which is activated in a prescribed cycle(e.g., every 1 ms), sets a speed phase lead correction amount Ks inaccordance with the rotation speed SP of the rotor 32 in the followingmanner during a deceleration control.

Upon activation of this routine, it is determined at step 701 whetherthe rotation position of the rotor 32 is close to a target position(i.e., whether it has entered a deceleration control range for stoppingthe rotor 32) on the basis of whether the absolute value |Acnt−Ncnt| ofthe difference between a target count Acnt and an encoder count Ncnt issmaller than a prescribed value (e.g., 100). If it is determined that|Acnt−Ncnt| is greater than the prescribed value (i.e., the rotationposition of the rotor 32 has not entered the deceleration controlrange), this routine is finished without executing the remaining steps.

On the other hand, if |Acnt−Ncnt| is smaller than the prescribed value,it is determined that the rotation position of the rotor 32 has enteredthe deceleration control range, steps 702–706 are executed, whereby thespeed phase lead correction amount Ks is set in the following manneraccording to the rotation speed SP of the rotor 32. First, at steps 702and 703, it is determined whether the present rotation speed SP of therotor 32 belongs to a high speed range (e.g., higher than 1,500 rpm), amiddle speed range (e.g., 500 to 1,500 rpm), or a low speed range (e.g.,lower than 500 rpm). If the present rotation speed SP belongs to thehigh speed range, the routine proceeds to step 704, where thedeceleration control speed phase lead correction amount Ks is set to“−2,” for example. If the present rotation speed SP belongs to themiddle speed range, the routine proceeds to step 705, where thedeceleration control speed phase lead correction amount Ks is set to“−1,” for example. If the present rotation speed SP belongs to the lowspeed range, the routine proceeds to step 706, where the decelerationcontrol speed phase lead correction amount Ks is set to “0,” forexample. With this measure, in a deceleration control, the absolutevalue of the speed phase lead correction amount Ks is decreased and thebraking force acting on the rotor 32 is weakened as the rotation speedSP of the rotor 32 decreases so as to belong to the high speed range,the middle speed range, and the low speed range in order.

Then, the routine proceeds to step 707, where it is determined whetherthe deceleration of the rotor 32 is delayed. Specifically, if therotation speed SP of the rotor 32 belongs to the high speed range eventhough the absolute value |Acnt−Ncnt| of the difference between thetarget count Acnt and the encoder count Ncnt is smaller than 50, forexample (i.e., the present position of the rotor 32 is very close to thetarget position), a determination result “the deceleration of the rotor32 is delayed” is produced and the routine proceeds to step 708. At step708, the deceleration control speed phase lead correction amount Ks isset to “−3,” for example, to maximize the braking force acting on therotor 32 and thereby lower the rotation speed SP of the rotor 32rapidly. In this manner, the rotor 32 is prevented from overshooting thetarget position by its inertia.

In the above first embodiment, when the difference between the rotationposition of the rotor 32 (i.e., the encoder count) and a target position(i.e., target count), a transition is made to a deceleration control inwhich the speed phase lead correction amount Ks for the phase lead ofthe current supply phase is corrected in accordance with the rotationspeed of the rotor 32. In this manner, the braking force acting on therotor 32 is varied properly in accordance with the rotation speed of therotor 32, whereby the rotor 32 is decelerated smoothly as it approachesthe target position. As a result, the rotor 32 is prevented fromovershooting the target position because of its inertia at the end of afeedback control and hence can be stopped accurately at the targetposition. Both of the rotation speed of the rotor 32 in a feedbackcontrol and its stop position accuracy can be increased.

Further, in the deceleration control, the speed phase lead correctionamount Ks is set by taking into consideration, in addition to therotation speed of the rotor 32, the rotation angle from the presentrotation position of the rotor 32 to the target position. This measuremakes it possible to decelerate the rotor 32 reliably by increasing thebraking force that is exerted on the rotor 32 when it approaches thetarget position even in the case where the deceleration of the rotor 32is delayed for a certain reason: the rotor 32 can be stopped at thetarget position accurately.

In addition, the time-synchronous current supply phase setting processin which the current supply phase is set on the basis of the encodercount in a prescribed cycle (e.g., every 1 ms) is executed parallel witha feedback control from the start of the feedback control to arrival ofthe rotor 32 to a target position. Therefore, even if the rotation ofthe rotor 32 is stopped for a certain reason during a decelerationcontrol and the encoder 46 comes not to output A-phase and B-phasesignals, a current supply phase is set by the time-synchronous currentsupply phase setting process on the basis of an encoder count at thattime point and the rotor 32 can be rotated to a position that is asclose to a target position as possible. The reliability of the feedbackcontrol (i.e., position switching control) of the SR motor 12 can thusbe increased.

The time-synchronous current supply phase setting process is executedover the entire period from the start of a feedback control to arrivalof the rotor 32 to a target position. Therefore, with whatever timingthe rotor 32 is stopped, the time-synchronous current supply phasesetting process makes it possible to set the current supply phasewithout delay, that is, immediately after a stop of the rotor 32. Thestop time of the rotor 32 can thus be shortened.

However, the time-synchronous current supply phase setting process maybe executed after the rotation speed of the rotor 32 has become lowerthan a prescribed value. This provides an advantage that the computationload of the CPU of the ECU 41 can be reduced because it suffices thatthe time-synchronous current supply phase setting process be executedonly after the rotation speed of the rotor 32 has become lower than avalue below which the rotor 32 may stop. Alternatively, thetime-synchronous current supply phase setting process may be executedonly when the rotor 32 stops during a deceleration control. The currentsupply phase may be set only by a feedback control, that is, withoutexecuting a time-synchronous current supply phase setting process.

(Second Embodiment)

In the first embodiment, the rotation amount (of the rotor 32 (i.e., therotor rotation angle) is converted into the manipulated variable of theposition switching mechanism 11 (i.e., the slide length of the parkingrod 18) via the rotation transmission system consisting of the speedreducing mechanism 26, the output shaft 13, the detent lever 15, etc.Play exists between the parts constituting the rotation transmissionsystem. For example, backlash exists between the gears of the speedreducing mechanism 26. In a structure in which a connecting portionhaving a non-circular cross-section that is formed at the tip of therotary shaft of the motor 12 is fitted into a fitting hole of the outputshaft 13, a certain clearance is needed to facilitate the work offitting the former into the latter.

Further, as shown in FIG. 27, when the engaging portion 23 a of thedetent spring 23 moves into the P-position holding recess 24 or thenon-P-position holding recess 25 of the detent lever 15, a slight gap(i.e., a play amount) exists between the engaging portion 23 a and theside walls of the holding recess 24 or 25. As exemplified above, playamounts such as backlash and gaps between the parts exist in therotation transmission system for converting the rotation amount of therotor 32 into the manipulated variable (i.e., the slide length of theparking rod 18) of the position switching mechanism 11. Even if therotation amount of the rotor 32 is controlled correctly on the basis ofthe encoder count, the manipulated variable of the position switchingmechanism 11 has an error corresponding to the play amounts in therotation transmission system: the manipulated variable of the positionswitching mechanism 11 cannot be controlled accurately.

In view of the above, the second embodiment has a function of learningplay amounts in the rotation transmission system. Specifically, to learnplay amounts in the rotation transmission system, a P-position-sidebutting control for rotating the rotor 32 until the engaging portion 23a of the detent spring 23 butts against the side wall of the P-positionholding recess 24 as a P-position-side limit position of the movablerange of the position switching mechanism 11 and a non-P-position-sidebutting control for rotating the rotor 32 until the engaging portion 23a of the detent spring 23 butts against the side wall of thenon-P-position holding recess 25 as a non-P-position-side limit positionof the movable range of the position switching mechanism 11 areperformed, whereby an increase or decrease of the encoder countcorresponding to the range from the P-position-side limit position tothe non-P-position-side limit position is determined as an actualmeasurement value of the movable range of the position switchingmechanism 11 (FIGS. 27 and 28).

The difference between this actual measurement value of the movablerange and its design value is learned as play amounts of the rotationtransmission system. When the rotor 32 is rotated to a target positionafterwards, the target position is set by taking the learned play amountof the rotation transmission system into consideration. This makes itpossible to set, even if the rotation transmission system has playamounts, a target position taking the play amounts into considerationand to thereby control the manipulated variable of the positionswitching mechanism 11 accurately.

If there is a sufficient time to learn a play amount (or an operationreference position) of the rotation transmission system from applicationof power (i.e., turning-on of the ignition switch) to the ECU 41 whichcontrols the SR motor 12 to the start of a control on the positionswitching mechanism 11, a play amount of the rotation transmissionsystem may be learned after application of power to the ECU 41 andbefore the start of a control on the position switching mechanism 11 byperforming a P-position-side butting control and a non-P-position-sidebutting control successively. However, where it is necessary to quicklystart a control on the position-switching mechanism 11 after applicationof power to the ECU 41, there may not be a sufficient time to learn aplay amount of the rotation transmission system after application ofpower to the ECU 41.

In view of the above, in this embodiment, after a control on theposition-switching mechanism 11 was started without learning a playamount (or operation reference position), in a state that the rotor 32is stopped at the P-position, a P-position-side butting control isperformed and an encoder count when the engaging portion 23 a is incontact with the side wall of the P-position holding recess 24 is storedin the RAM of the ECU 41. In a state that the rotor 32 is stopped at thenon-P-position, a non-P-position-side butting control is performed andan encoder count when the engaging portion 23 a is in contact with theside wall of the non-P-position holding recess 25 is stored in the RAMof the ECU 41. The difference between the encoder counts obtained by theP-position-side butting control and the non-P-position-side buttingcontrol is calculated as an actual measurement value of the movablerange of the position switching mechanism 11. The difference between theactual measurement value of the movable range and its design value islearned as a play amount of the rotation transmission system.

With this measure, even if there was not a sufficient time to learn aplay amount of the rotation transmission system from application ofpower to the ECU 41 to the start of a control on the position switchingmechanism 11 and hence a control on the position switching mechanism 11was started without learning a play amount of the rotation transmissionsystem, a play amount can be learned by performing butting controls whenthe rotor 32 is stopped at the P-position and the non-P-position. Inthis case, the same control as in the other case that does not take aplay amount of the rotation transmission system into consideration maybe performed before completion of learning of a play amount.Alternatively, the control object may be controlled by using a presetaverage play amount or a storage value of a preceding learned playamount. In the following description, the abbreviated term “buttingcontrol” means either of a P-position-side butting control or a nonP-position-side butting control.

Here, after completion of a position switching operation, the currentsupply to the motor 12 is kept off until the next position switchingoperation to prevent overheating of the motor 12 and to save the powerconsumption. During such a current supply off period, the rotor rotationangle of the motor 12 may deviate in the range corresponding to the playin the rotation transmission system. In addition, the magnitude of sucha deviation is unknown. For this reason, even if a shift position (i.e.,rotor rotation angle) is determined by using an encoder count and alearned value of a play amount of the rotation transmission system inchecking an actual shift position in a current supply off period, anerroneous shift position may be obtained due to a deviation in thecurrent supply off period.

As a countermeasure against this problem, in the period when the currentsupply to the motor 12 is kept off, the P-position/non-P-positionswitching determination range is set wider than in the period when thecurrent supply to the motor 12 is on. The term “switching determinationrange” means such a range that if the rotor rotation angle is in thatrange the engaging portion 23 a of the detent spring 23 naturally slidesdown to the bottom of the position holding recess 24 or 25 of the detentlever 15 due to the spring force of the detent spring 23 and the shiftposition is kept at the P-position or the non-P position.

In the period when the current supply to the motor 12 is on, theposition switching mechanism 11 can be driven in a state that thedeviation in the rotor rotation angle due to the play in the rotationtransmission system is kept constant by the drive force of the motor 12.Therefore, a position switching control is enabled that is free ofinfluence of the play in the rotation transmission system if a knownvalue for the deviation is obtained by learning or the like. In theperiod when the current supply to the motor 12 is on, the switchingdetermination range can be set relatively narrow to increase the shiftposition determination accuracy. However, in the period when the currentsupply to the motor 12 is kept off, it is unknown to what extent therotor rotation angle deviates in the range corresponding to the play inthe rotation transmission system. Therefore, if the switchingdetermination range is narrow, an erroneous shift position determinationtends to occur contrary to the intention.

As a countermeasure, in this embodiment, the switching determinationrange in the period when the current supply to the motor 12 is kept offis set wider than in the period when the current supply to the motor 12is on. This makes it possible to determine a shift position moreaccurately than in the conventional case even in the period when thecurrent supply to the motor 12 is kept off.

The above position switching control is performed by the ECU 41 of theposition switching controller 42 according to routines described below.Routines that are executed in addition to the routines according to thefirst embodiment will be described below.

[Play Amount Learning]

A play amount learning routine shown in FIG. 29 is executed in aprescribed cycle (e.g., every 8 ms) after the end of an initial drive.Upon activation of this routine, it is determined at step 2300 whether aplay amount learning completion flag Xg is “on” (play amount learningcompleted). If the play amount learning completion flag Xg is “on,” thisroutine is finished without executing the remaining steps. As a result,play amount leaning is performed only once in an ignition switch onperiod. The play amount learning completion flag Xg is set to “off” byan initialization processing routine (not shown) that is executedimmediately after the ignition switch is turned on.

On the other hand, if it is determined at step 2300 that the play amountlearning completion flag Xg is “off” (play amount learning has notcompleted), the routine proceeds to step 2301, where it is determinedwhether the instructed shift position is the P-position. If it is theP-position, the routine proceeds to step 2302, where a P-position-sidebutting control routine (not shown) is executed in which the rotor 32 isrotated until the engaging portion 23 a of the detent spring 23 buttsagainst the side wall of the P-position holding recess 24 that is theP-position-side limit position of the movable range of the positionswitching mechanism 11. A resulting encoder count Np at the time ofP-position-side butting is stored in the RAM of the ECU 41. ThisP-position-side butting control is performed only once in an ignitionswitch on period. A P-position-side butting completion flag Xp is set to“on” upon completion of the P-position-side butting control.

If it is determined at step 2301 that the instructed shift position isthe non-P-position, the routine proceeds to step 2303, where anon-P-position-side butting control routine (not shown) is executed inwhich the rotor 32 is rotated until the engaging portion 23 a of thedetent spring 23 butts against the side wall of the P-position holdingrecess 24 that is the non-P-position-side limit position of the movablerange of the position switching mechanism 11. A resulting encoder countNnp at the time of non-P-position-side butting is stored in the RAM ofthe ECU 41. This non-P-position-side butting control is performed onlyonce in an ignition switch on period. A non-P-position-side buttingcompletion flag Xnp is set to “on” upon completion of thenon-P-position-side butting control.

Then, the routine proceeds to step 2304, where it is determined whetherboth of P-position-side and non-P-position-side butting controls havecompleted (i.e., the P-position-side butting completion flag Xp and thenon-P-position-side butting completion flag Xnp are “on”). If at leastone of P-position-side and non-P-position-side butting controls has notcompleted yet, this routine is finished without executing the remainingsteps.

On the other hand, if both of P-position-side and non-P-position-sidebutting controls have completed, the routine proceeds to step 2305,where an actual measurement value ΔNact of the movable range of therotor 32 (i.e., the movable range of the detent lever 15) from aP-position-side limit position (i.e., the side wall of the P-positionholding recess 24) to a non-P-position-side limit position (the sidewall of the non-P-position holding recess 25) is calculated according tothe following equation:ΔNact=Nnp−Npwhere Nnp is an encoder count at the time of non-P-position-side buttingand Np is an encoder count at the time of P-position-side butting.

After the calculation of the actual measurement value ΔNact of themovable range, the routine proceeds to step 2306, where aP-position-side play amount ΔGp and a non-P-position-side play amountΔGnp are calculated according to the following equation by using theactual measurement value ΔNact and a design value ΔNd of the movablerange taking a relationship of FIG. 28 into consideration.ΔGp=ΔGnp=(ΔNact−ΔNd)/2The design value ΔNd of the movable range may be calculated in advanceon the basis of design data or set to a center value of varied movableranges in manufacture of mass-production devices (i.e., an actualmeasurement value of the movable range of a standard device).

As shown in FIG. 28, the difference ΔNact−ΔNd between the actualmeasurement value ΔNact and the design value ΔNd corresponds to the sumΔGp+ΔGnp of the P-position-side play amount ΔGp and thenon-P-position-side play amount ΔGnp. Since the P-position-side playamount ΔGp and the non-P-position-side play amount ΔGnp generallycoincide with each other, each of them can be calculated according tothe above equation.

After the calculation of the play amounts ΔGp and ΔGnp, the routineproceeds to step 2307, where the play amount learning completion flag Xgis set to “on” that means completion of play amount learning. Then, theroutine is finished.

The actual measurement value ΔNact of the movable range and the playamounts ΔGp and ΔGnp that were calculated at steps 2305 and 2306 arestored, with updating, in a nonvolatile memory (not shown) such as anSRAM of the ECU 41 and the stored values are held even after turning-offof the ignition switch. After the ignition switch is turned on nexttime, a target count Acnt is set by a target count setting routine shownin FIGS. 30 and 31 by using the actual measurement value ΔNact of themovable range and the play amounts ΔGp and ΔGnp that are stored in thenonvolatile memory of the ECU 41.

[Target Count Setting]

The target count setting routine shown in FIGS. 30 and 31, which isexecuted in a prescribed cycle (e.g., every 8 ms) after the end of aninitial drive, sets a target count Acnt corresponding to an instructedshift position. Upon activation of this routine, it is determined atstep 2401 whether a butting control is being performed. If a buttingcontrol is being performed, the routine proceeds to step 2402, where abutting target count Ag is set as a target count Acnt.

On the other hand, if no butting control is being performed, the routineproceeds to step 2403, where it is determined whether an instructedshift position is the P-position. If the instructed shift position isthe P-position, the routine proceeds to step 2404, where it isdetermined whether a P-position-side butting control has completed. If aP-position-side butting control has completed, the routine proceeds tostep 2405, where a P-position target count Acnt is is calculatedaccording to the following equation:Acnt=Np+ΔGp

In this equation, Np is an encoder count at the time of P-position-sidebutting and ΔGp is a learned value of the P-position-side play amount. Apreceding value stored in the nonvolatile memory of the ECU 41 is usedas ΔGp until it is updated by a present (i.e., newly calculated) learnedvalue ΔGp of the play amount at step 2306 of the play amount learningroutine of FIG. 29.

On the other hand, if a P-position-side butting control has notcompleted, a determination result “no” is produced at step 2404 and theroutine proceeds to step 2406, where it is determined whether anon-P-position-side butting control has completed. If anon-P-position-side butting control has completed, the routine proceedsto step 2407, where a P-position-side target count Acnt is calculatedaccording to the following equation.Acnt=Nnp−ΔNact+ΔGp

In this equation, Nnp is an encoder count at the time ofnon-P-position-side butting and ΔNact is an actual measurement value ofthe movable range. A preceding value stored in the nonvolatile memory ofthe ECU 41 is used as ΔNact until it is updated by a present (i.e.,newly calculated) actual measurement value ΔNact at step 2305 of theplay amount learning routine of FIG. 29.

If neither a P-position-side butting control nor a non-P-side buttingcontrol has completed, the target count Acnt cannot be corrected byusing a play amount ΔGp or ΔGnp because neither an encoder count Np atthe time of P-position-side butting nor an encoder count Nnp at the timeof non-P-position-side butting has been learned. Therefore, in thiscase, the routine proceeds to step 2408, where a temporary P-positiontarget count “0” is set as a P-position target count Acnt.

On the other hand, if it is determined at step 2403 that the instructedshift position is the non-P-position, the routine proceeds to step 2409in FIG. 31, where it is determined whether a non-P-position-side buttingcontrol has completed. If a non-P-position-side butting control hascompleted, the routine proceeds to step 2410, where a non-P-positiontarget count is calculated according to the following equation:Acnt=Nnp−ΔGnp.

In this equation, ΔGnp is a learned value of the non-P-position-sideplay amount. A preceding value stored in the nonvolatile memory of theECU 41 is used as ΔGnp until it is updated by a present (i.e., newlycalculated) learned value ΔGnp of the play amount at step 2306 of theplay amount learning routine of FIG. 29.

On the other hand, if a non-P-position-side butting control has notcompleted, a determination result “no” is produced at step 2409 and theroutine proceeds to step 2411, where it is determined whether aP-position-side butting control has completed. If a P-position-sidebutting control has completed, the routine proceeds to step 2412, wherea non-P-position-side target count Acnt is calculated according to thefollowing equation.Acnt=Np+ΔNact−ΔGnp

If neither a P-position-side butting control nor a non-P-side buttingcontrol has completed, the routine proceeds to step 2413, where atemporary non-P-position target count “Knonp” (e.g., a valuecorresponding to 18.5°) is set as a non-P-position target count Acnt.

In this routine, in setting a target count Acnt, preceding values storedin the nonvolatile memory of the ECU 41 are used as the play amountlearned values ΔGp and ΔGnp and the movable range actual measurementvalues ΔNact until they are updated. Alternatively, a temporary targetcount (0 or Knonp) may be used until the storage values of thenonvolatile memory are updated.

[Position Determination]

A position determination routine shown in FIG. 32, which is activated ina prescribed cycle (e.g., every 8 ms) during an ignition switch onperiod, performs the switching determination and the switchingdetermination position setting. Upon activation of this routine, it isdetermined at step 2501 whether current supply is being performed to themotor 12. If current supply is being performed, the process proceeds tostep 2502, where it is determined whether a present rotor rotation angleθm is within the current-supply-state P-position switching determinationrange (e.g., within 5° of the P-position-side limit position θp). Forexample, the width (5°) of the current-supply-state P-position switchingdetermination range may be set by adaptation or the like so as to assuresufficient current-supply-state P-position determination accuracy.

The detection value of the rotor rotation angle θm may be in terms ofNcnt−Gcnt (Ncnt: encoder count; Gcnt: initial positional deviationlearned value), and the width (5°) of the P-position switchingdetermination range may be a value as converted into an encoder count.

If it is determined at step 2502 that the present rotor rotation angleθm is within the current-supply-state P-position switching determinationrange, the routine proceeds to step 2503, where it is determined thatthe present shift position is the P-position. Then, this routine isfinished.

On the other hand, if it is determined at step 2502 that the presentrotor rotation angle θm is out of the current-supply-state P-positionswitching determination range, the routine proceeds to step 2504, whereit is determined whether the present rotor rotation angle θm is withinthe current-supply-state non-P-position switching determination range(e.g., within 7° of the non-P-position-side limit position θnp). Forexample, the width (7°) of the current-supply-state non-P-positionswitching determination range may be set by adaptation or the like so asto assure sufficient current-supply-state non-P-position determinationaccuracy. If it is determined at step 2504 that the present rotorrotation angle θm is within the current-supply-state non-P-positionswitching determination range, the routine proceeds to step 2505, whereit is determined that the present shift position is the non-P-position.Then, this routine is finished.

If a determination result “no” is produced at both steps 2502 and 2504,the present rotor rotation angle θm is regarded as an intermediateposition between the P-position and the non-P-position (i.e., in a rangewhere the shift position is indefinite) and this routine is finished.

On the other hand, if it is determined at step 2501 that current supplyis not being performed on the motor 12, the routine proceeds to step2506, where it is determined whether the present rotor rotation angle θmis within the current-supply off-state P-position switchingdetermination range (e.g., within 10° of the P-position-side limitposition θp). It is appropriate that the width of the current-supplyoff-state P-position switching determination range be wider than thecurrent-supply-state one by, for example, the play amount of therotation transmission system. The increase of the switchingdetermination range may be an adaptation value or a value learned by theplay amount learning routine of FIG. 29. The increase of the switchingdetermination range is not limited to the play amount of the rotationtransmission system and may be greater or smaller than it. The essentialthing is that the increase of the switching determination range be setso as to avoid an erroneous shift position determination during theperiod when the current supply is kept off.

If it is determined at step 2506 that the present rotor rotation angleθm is within the current-supply off-state P-position switchingdetermination range, the process proceeds to step 2507, where it isdetermined that the present shift position is the P-position. Then, thisroutine is finished.

On the other hand, if it is determined at step 2506 that the presentrotor rotation angle θm is out of the current-supply off-stateP-position switching determination range, the process proceeds to step2508, where it is determined whether the present rotor rotation angle θmis within the current-supply off-state non-P-position switchingdetermination range (e.g., within 12° of the non-P-position-side limitposition θnp). If it is determined at step 2508 that the present rotorrotation angle θm is within the current-supply off-state non-P-positionswitching determination range, the routine proceeds to step 2509, whereit is determined that the present shift position is the non-P-position.Then, this routine is finished.

If a determination result “no” is produced at both steps 2506 and 2508,the present rotor rotation angle θm is regarded as an intermediateposition between the P-position and the non-P-position (i.e., in a rangewhere the shift position is indefinite) and this routine is finished.

A shift position that has been determined by this routine is used for acontrol on an automatic transmission 27 or a fuel injection control, forexample.

In the second embodiment, the P-position/non-P-position switchingdetermination range in the period when the current supply to the motor12 is kept off is set wider than in the period when the current supplyto the motor 12 is on. In the period when the current supply to themotor 12 is on, the position switching mechanism 11 can be driven in astate that the deviation in the rotor rotation angle due to the play inthe rotation transmission system is kept constant by the drive force ofthe motor 12. Therefore, a position switching control is enabled that isfree of influence of the play in the rotation transmission system if aknown value for the deviation is obtained by learning or the like. Inthe period when the current supply to the motor 12 is on, the switchingdetermination range can be set relatively narrow to increase the shiftposition determination accuracy.

However, in the period when the current supply to the motor 12 is keptoff, it is unknown to what extent the rotor rotation angle deviates inthe range corresponding to the play in the rotation transmission system.Therefore, if the switching determination range is narrow, an erroneousshift position determination tends to occur contrary to the intention.

As a countermeasure, the switching determination range in the periodwhen the current supply to the motor 12 is kept off is set wider than inthe period when the current supply to the motor 12 is on. This makes itpossible to determine a shift position more accurately than in theconventional case even in the period when the current supply to themotor 12 is kept off. Sufficient shift position determination accuracycan be secured even without providing a sensor or the like for detectingthe manipulated variable of the position switching mechanism 11, wherebythe requirement of cost reduction can be satisfied.

Although in the second embodiment a play amount of the rotationtransmission system is learned, an adaptation value may be used for it.

(Third Embodiment)

Next, a motor control according to a third embodiment of the inventionwill be described by using routines shown in FIGS. 33–35.

[Motor Control]

A motor control routine shown in FIG. 33 is executed in a prescribedcycle during an ignition switch on period. Upon activation of thisroutine, it is determined at step 3601 whether a feedback controlexecution condition is satisfied. The feedback control executioncondition is satisfied if, for example, both of the following conditions(1) and (2) are met:

(1) an initial drive has finished (i.e., learning of an initialpositional deviation learned value Gcnt has finished.

(2) no system failure or abnormality in output pulses of the encoder 46(e.g., noise, loss of a pulse, a signal line disconnection) is detected.

If both of the two conditions (1) and (2) are met, the feedback controlexecution condition is satisfied and the routine proceeds to step 3602,where a feedback control is performed. In the feedback control, therotor 32 is rotated by sequentially switching the current supply phaseon the basis of the encoder count by the method described in the firstembodiment.

On the other hand, if at least one of the two conditions (1) and (2) isnot met, the feedback control execution condition is not satisfied andthe routine proceeds from step 3601 to step 3603, where a fail-safecontrol (i.e., open-loop control) is performed. In the fail-safecontrol, the rotor 32 is driven to a target rotation angle by rotatingthe rotor 32 by sequentially switching the current supply phase of themotor 12 by supplying drive signals to the motor drivers 37 and 38(drive circuits) without feeding back encoder count information whiledetecting the rotor rotation angle of the motor 12 on the basis of thecount of pulses of the drive signals.

[Switching Determination Range Setting]

A switching determination range setting routine shown in FIG. 34 isexecuted in a prescribed cycle (e.g., every 8 ms) during an ignitionswitch on period. Upon activation of this routine, it is determined atstep 3701 whether a feedback control is being performed. If a feedbackcontrol is being performed, the routine proceeds to step 3702, where thewidths Kp and Knp of the P-position and non-P-position switchingdetermination ranges are set to 5° and 7°, respectively.

On the other hand, if it is determined at step 3701 that a fail-safecontrol is being performed, the routine proceeds to step 3703, where thewidths Kp and Knp of the P-position and non-P-position switchingdetermination ranges are set to 7° and 9°, respectively, that aregreater than in the ordinary case. Then, this routine is finished.

If it is determined at step 3701 that a feedback control is beingperformed and Kp and Knp are set to 5° and 7°, respectively, the routineproceeds to step 3704, where it is determined whether learning of aP-position-side play amount has completed. If learning of aP-position-side play amount has completed, the routine proceeds to step3705, where the width Kp of the P-position switching determination rangeis kept at the ordinary value 5°. However, if learning of aP-position-side play amount has not completed yet, the routine proceedsto step 3706, where the width Kp of the P-position switchingdetermination range is changed to 7° that is greater than the ordinaryvalue.

Then, the routine proceeds to step 3707, where it is determined whetherlearning of a non-P-position-side play amount has completed. If learningof a non-P-position-side play amount has completed, the routine proceedsto step 3708, where the width Knp of the non-P-position switchingdetermination range is kept at the ordinary value 7°. However, iflearning of a non-P-position-side play amount has not completed yet, theroutine proceeds to step 3709, where the width Knp of the non-P-positionswitching determination range is changed to 9° that is greater than theordinary value.

[Position Determination]

A position determination routine shown in FIG. 35 is executed in aprescribed cycle (e.g., every 8 ms) during an ignition switch on-period.This routine is such that steps 2502 and 2504 of the routine of FIG. 32according to the second embodiment are changed to steps 2502 a and 2504a, respectively.

In this routine, if it is determined at step 2501 that current supply tothe motor 12 is being performed, the process proceeds to step 2502 a,where it is determined whether a present rotor rotation angle θm iswithin the current-supply-state P-position switching determination range(e.g., within Kp of the P-position-side limit position θp). The width Kpof the current-supply-state P-position switching determination range isset to a value that has been set by the routine of FIG. 34.

If it is determined at step 2502 a that the present rotor rotation angleθm is within the current-supply-state P-position switching determinationrange, the routine proceeds to step 2503, where it is determined thatthe present shift position is the P-position.

On the other hand, if it is determined at step 2502 a that the presentrotor rotation angle θm is out of the current-supply-state P-positionswitching determination range, the routine proceeds to step 2504 a,where it is determined whether the present rotor rotation angle θm iswithin the current-supply-state non-P-position switching determinationrange (e.g., within Knp of the non-P-position-side limit position θnp).The width Knp of the current-supply-state non-P-position switchingdetermination range is set to a value that has been set by the routineof FIG. 34.

If it is determined at step 2504 a that the present rotor rotation angleθm is within the current-supply-state non-P-position switchingdetermination range, the routine proceeds to step 2505, where it isdetermined that the present shift position is the non-P-position.

In the third embodiment, the P-position and non-P-position switchingdetermination ranges in the fail-safe control are set wider than in thefeedback control. During a fail-safe control, the rotor rotation angleis merely estimated on the basis of the count of drive signals.Therefore, the actual rotor rotation angle may deviate from theestimated value. As a result, during the fail-safe control, an erroneousshift position determination may occur contrary to the intention if theswitching determination ranges are narrow.

As a countermeasure, in the third embodiment, the P-position andnon-P-position switching determination ranges in the fail-safe controlare set wider than in the feedback control. This makes it possible todetermine a shift position more accurately than in the conventional caseeven during the fail-safe control. Sufficient shift positiondetermination accuracy can be secured even without providing a sensor orthe like for detecting the manipulated variable of the positionswitching mechanism 11, whereby the requirement of cost reduction can besatisfied.

Further, in the third embodiment, the switching determination rangebefore learning of a play amount is set wider than that after learningof a play amount. Before learning of a play amount, the play amount isunknown and hence an erroneous shift position determination may occurcontrary to the intention if the switching determination range isnarrow. As a countermeasure, in the third embodiment, the switchingdetermination range before learning of a play amount is set wider thanthat after learning of a play amount. This makes it possible todetermine a shift position more accurately than in the conventional caseeven before learning of a play amount. Sufficient shift positiondetermination accuracy can be secured even without providing a sensor orthe like for detecting the manipulated variable of the positionswitching mechanism 11, whereby the requirement of cost reduction can besatisfied.

The encoder is not limited to the magnetic encoder like the encoder 46used in each of the embodiment and may be an optical encoder or abrush-type encoder, for example. The motor is not limited to the SRmotor. A brushless motor other than the SR motor may be used as long asit is of such a type that the motor current supply phase is switchedsequentially by detecting the rotation position of the rotor on thebasis of the count of an encoder output signal. The position switchingdevice of each of the above embodiments is of such a type that switchingis made between two positions, that is, the P-position and thenon-P-position. However, for example, the invention can also be appliedto a position switching device that switches between positions of P, R,N, D, etc. of an automatic transmission by switching between a positionswitching valve and a manual valve of the automatic transmission in linkwith a rotation operation of the detent lever 15.

1. A motor control apparatus comprising: a motor having a rotor; anencoder for producing a pulse signal in synchronism with rotation of therotor of the motor that rotates a control object; and control means forrotating the rotor to a target position by detecting a rotation positionof the rotor on the basis of a count of the pulse signal counted by anencoder count by the encoder and sequentially switching a current supplyphase of the motor, wherein the control means corrects, in a period whena deceleration control is performed on the rotor, a phase lead of thecurrent supply phase with respect to a rotation phase of the rotor inaccordance with a rotation speed of the rotor.
 2. The motor controlapparatus according to claim 1, wherein the control means corrects, inthe period when the deceleration control is performed on the rotor, thephase lead of the current supply phase in such a direction that brakingforce acting on the rotor is weakened as the rotation speed of the rotorlowers.
 3. The motor control apparatus according to claim 1, wherein thecontrol means corrects, in the period when the deceleration control isperformed on the rotor, the phase lead of the current supply phasetaking into consideration, in addition to the rotation speed of therotor, a rotation angle of the rotor from a present position to thetarget position.
 4. The motor control apparatus according to claim 1,wherein the motor is a switched reluctance motor.
 5. The motor controlapparatus according to claim 1, wherein the motor drives a positionswitching mechanism for switching a gear shift position of an automatictransmission of a vehicle.
 6. A motor control apparatus comprising: amotor having a rotor; an encoder for producing a pulse signal insynchronism with rotation of the rotor of the motor that rotates acontrol object; and control means for rotating the rotor to a targetposition by detecting a rotation position of the rotor on the basis of acount of the pulse signal counted by an encoder count by the encoder andsequentially switching a current supply phase of the motor, wherein thecontrol means corrects, in a period when a deceleration control isperformed on the rotor, a phase lead of the current supply phase withrespect to a rotation phase of the rotor in accordance with a rotationspeed of the rotor; wherein the control means includes: first currentsupply phase setting means for setting a current supply phase on thebasis of the encoder count in synchronism with pulses of the pulsesignal of the encoder during a drive control on the motor; and secondcurrent supply phase setting means for setting a current supply phase onthe basis of the encoder count in a prescribed cycle until the rotor isrotated to the target position, wherein the control means corrects thephase lead of the current supply phase in accordance with the rotationspeed of the rotor when each of the first and second current supplyphase setting means sets the current supply phase.
 7. A motor controlapparatus comprising: a motor having a rotor; an encoder for producing apulse signal in synchronism with rotation of the rotor of the motor thatrotates a control object; and a controller for rotating the rotor to atarget position by detecting a rotation position of the rotor on thebasis of a count of the pulse signal counted by an encoder count by theencoder and sequentially switching a current supply phase of the motor,wherein the controller corrects, in a period when a deceleration controlis performed on the rotor, a phase lead of the current supply phase withrespect to a rotation phase of the rotor in accordance with a rotationspeed of the rotor to thereby control generation of a braking forceacting electromagnetically on the rotor to decelerate the rotor.
 8. Themotor control apparatus according to claim 7, wherein the controllercorrects, in the period when the deceleration control is performed onthe rotor, the phase lead of the current supply phase in such adirection that the braking force acting electromagnetically on the rotoris weakened as the rotation speed of the rotor lowers.
 9. The motorcontrol apparatus according to claim 7, wherein the controller corrects,in the period when the deceleration control is performed on the rotor,the phase lead of the current supply phase taking into consideration, inaddition to the rotation speed of the rotor, a rotation angle of therotor from a present position to the target position.
 10. The motorcontrol apparatus according to claim 7, wherein the controller includes:first current supply phase setter for setting a current supply phase onthe basis of the encoder count in synchronism with pulses of the pulsesignal of the encoder during a drive control on the motor; and secondcurrent supply phase setter for setting a current supply phase on thebasis of the encoder count in a prescribed cycle until the rotor isrotated to the target position, wherein the controller corrects thephase lead of the current supply phase in accordance with the rotationspeed of the rotor when each of the first and second current supplyphase setter sets the current supply phase.
 11. The motor controlapparatus according to claim 7, wherein the motor is a switchedreluctance motor.
 12. The motor control apparatus according to claim 7,wherein the motor drives a position switching mechanism for switchinggear shift position of an automatic transmission of a vehicle.